JP2008042581A - Scanner device, image texture improvement device, image texture presentation device, and image texture presentation system - Google Patents

Abstract

An object of the present invention is to realize a scanner device that has a simple configuration and can be easily operated because a large number of light sources are not required. In addition, an image texture presentation device that can reproduce the tactile sensation of a concavo-convex shape with high reality without blocking an image obtained from an object by a tactile sense presenting means, a user's hand, or the like is realized. There is.
A tilt stage scanner 1 includes a precision turntable 14 on which an object 100 is placed on a tilt stage 13, and the precision turntable 14 is placed on a surface on which the object 100 is placed. On the other hand, it rotates around the vertical direction. The visual and tactile sensation presentation apparatus includes an alignment device that projects an image displayed on the display between the haptic device and the user's viewpoint.
[Selection] Figure 1

Description

  The present invention includes a light source that irradiates light on an object, a light receiving unit that acquires image data by reading reflected light reflected from the object, and a stage that changes a light incident angle on the object in one direction. The present invention relates to a scanner device including The present invention also relates to an image texture improving apparatus including a scanner device and an image texture improving unit that controls the operation of the scanner device and obtains image data obtained by improving the texture of an object from image data acquired by the scanner device.

  Further, the present invention calculates an image display means for displaying an image, a tactile display means for presenting tactile information of the image to a user, and an uneven shape of the image displayed on the image display means, and matches the uneven shape. In particular, the present invention relates to an image texture presentation device including tactile sense presentation control means for controlling the tactile sense presentation means. Furthermore, an image texture improvement device and an image texture presentation device are provided, and the image display means displays an image based on the image data obtained by the image texture improvement means and improved in the texture of the object. About the system.

  2. Description of the Related Art Conventionally, in various fields such as digital media and online shopping as well as video media such as movies and television, a method of expressing an object in a virtual space, such as computer graphics, has been used. In addition, a technology that constructs a virtual environment using computer graphics technology and provides a realistic experience as if the user is on the spot (virtual reality; virtual reality environment) is urban engineering, traffic engineering, medical care. It is used in fields such as amusement. For this reason, it is becoming more and more important to improve the technology that uses computer graphics to generate objects in a virtual space that is as realistic as real-world objects.

  In addition, in order for a user to recognize an object expressed in a virtual space as being closer to the real object, it is considered necessary to work not only on vision but also on other senses, particularly tactile sensation. Therefore, in recent years, by using a haptic device that can touch an object in a virtual space by computer graphics, it is possible to express the flexibility, weight, etc. of an object that cannot be visually recognized. Yes.

  For example, Patent Documents 1 to 3 disclose an apparatus or method for obtaining visual information such as texture.

  In Patent Document 1, an active method in which real image information input by a camera, a CCD (Charge Coupled Devices) sensor, or the like is measured by irradiating infrared rays or laser light, or a distance image from matching of images from a plurality of viewpoints An image texture enhancement device that converts a texture-enhanced image using three-dimensional information that is input by a passive method for obtaining the image is disclosed. More specifically, the gradient amount or the change in the gradient amount is calculated based on the three-dimensional shape, and the contrast or sharpness is controlled to enhance the gloss of the actual image and make the unevenness stand out.

  Moreover, in patent document 2, a color and a texture are calculated based on two feature quantities respectively dependent on a spectral wavelength and a variable angle, which are calculated from a variable spectral reflectance measured using a gonio-spectrometer. A method for reproducing the paint color of an object to be considered is disclosed. Thereby, the texture or color information at the light source and the viewpoint at an arbitrary angle can be reproduced, and the metallic particle feeling or the like can be accurately reproduced.

  However, in Patent Document 1, since the three-dimensional information is obtained by measuring the distance between the actual image input unit that acquires the actual image and the object, the fine shape of the object surface is restored with high definition. It is necessary to measure the distance precisely. Therefore, in order to obtain accurate texture information, it is necessary to provide a control unit that precisely measures the distance, and thus the image texture enhancement apparatus cannot be simplified.

  In Patent Document 1, it is difficult to perform texture processing corresponding to a target material, such as correspondence to luster of metals, ceramics, etc., or correspondence to fine reflection of fabrics, papers, and the like.

  Further, in Patent Document 2, since texture information is obtained for application to a steel plate or the like, it is not configured to obtain texture information by acquiring an actual image.

  Furthermore, the gonio-spectrometer measures the target in spot units, and also measures spectral data not related to the texture. For this reason, since the amount of information per pixel is several hundred bytes, when measuring texture and color information in a large area with high definition, there is a possibility that it takes an enormous amount of time for image processing.

  In addition, since a gonio-spectrometer photometer is used, it is possible to measure variable angle spectral reflectance for materials with uniform reflection characteristics such as steel sheets, but uniform reflection characteristics such as textiles. There is a possibility that measurement cannot be performed for materials that do not have.

  Here, Patent Document 3 discloses a multi-angle scanner that can measure an object not in units of spots but in units of planes. Specifically, the multi-angle scanner includes a line CCD that reads the reflected light reflected by the subject, and can be adjusted to a desired corresponding angle including at least perpendicular to the optical axis of the reading optical system. It is the structure provided with the tilting stage which tilts.

  Moreover, as a tactile device, it is disclosed by patent documents 4-6, for example.

Patent Literature 4 discloses a visual / tactile information presentation device including a tactile sense presentation unit in which stimulation electrodes through which a current corresponding to tactile information related to image information flows are arranged in nectar. In Patent Document 5, a pointing device that reproduces the tactile sensation on the surface of an object by placing a cursor on the screen on which the object is displayed, pressing the tactile sensation presentation button, and dragging the screen is provided. A tactile presentation device is disclosed. Further, Patent Document 6 discloses a haptic information transmission device including a haptic touch panel on which a minute unevenness or vibration corresponding to an image is presented on a display.
JP 2002-329198 A (published on November 15, 2002) JP-A-8-221560 (published August 30, 1996) Japanese Patent Laying-Open No. 2005-331934 (released on December 2, 2005) Japanese Patent Laying-Open No. 2005-128891 (released on May 19, 2005) JP 2001-306200 A (published on November 2, 2001) JP 2000-148393 A (published May 26, 2000)

  However, in Patent Document 3, the tilt stage is tilted about the direction orthogonal to the direction in which the mounting table on the tilt stage moves, that is, the optical axis direction of the reading optical system. Therefore, it is possible to obtain a texture image of the object while changing the light incident angle to the object in a direction perpendicular to the axis, but in a direction other than the direction in the perpendicular plane, For example, a texture image cannot be acquired while changing the light incident angle on the object in a direction perpendicular to the direction in which the mounting table on the tilt stage moves. That is, it is impossible to capture a texture image while changing the light incident angle to the object in a direction other than the in-plane direction perpendicular to the tilt axis.

  For this reason, a texture image cannot be obtained while changing the light incident angle on the object in an arbitrary direction. For example, BTF (Bidirectional Texture Function) measurement or the like is performed to obtain texture information. Therefore, sufficient texture image data cannot be obtained.

  In addition, since the pointing device described in Patent Document 5 does not directly touch the screen on which the object is displayed, the pointing device and the object do not coincide with each other. For this reason, as compared with a haptic device whose line of sight matches, the sense of touching the object itself is impaired.

  Furthermore, the tactile sensation providing unit described in Patent Document 4 and the tactile sensation and touch panel described in Patent Document 6 are provided between the image of the object displayed on the image output unit and the user's viewpoint. For this reason, when the user touches the tactile sensation providing unit or the touch-sensitive touch panel with his / her hand so as to artificially touch the object, the image of the object may be blocked by the user's hand or the like.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to realize a scanner device that has a simple configuration and can be easily operated because a large number of light sources are not required. In addition, an image texture presentation device that can reproduce the tactile sensation of a concavo-convex shape with high reality without blocking an image obtained from an object by a tactile device, a user's hand, etc. It is in.

  In order to solve the above problems, a scanner device according to the present invention includes a light source for irradiating light on an object, light receiving means for acquiring image data by reading reflected light reflected from the object, and the object. And a stage that rotates so as to change the light incident angle in one direction, and the stage includes a turntable on which the object is placed, and the turntable. Rotates around the axis perpendicular to the surface on which the object is placed.

  According to the above-described configuration, the scanner device includes the turntable that rotates on the stage about the direction perpendicular to the surface on which the object is placed. Since the stage rotates so as to change the light incident angle on the object in one direction, the light irradiated from one fixed light source is arbitrarily applied to the object by the stage and the turntable. It becomes possible to enter from the angle of.

  This makes it possible to reduce the light incident angle even when the configuration includes a large number of light sources at a desired angle for acquiring image data or when the light source is not moved to a desired angle for acquiring image data. It is possible to obtain image data different in a plurality of directions. Accordingly, the configuration of the scanner device can be simplified and the scanner device can be easily operated.

  The light receiving means is a line sensor, and the turntable preferably moves in a direction parallel to the stage and perpendicular to the longitudinal direction of the line sensor.

  According to the above configuration, the line sensor can scan the entire object by moving the turntable in a direction parallel to the stage and perpendicular to the longitudinal direction of the line sensor. This makes it possible to acquire a two-dimensional image by combining the one-dimensional image data acquired as a line from the object. Therefore, it becomes possible to acquire high-definition image data as compared with the case of using a normal camera. In addition, since it is not necessary to move the line sensor, it is possible to acquire image data even when the object is rotated.

  It is preferable that the stage further includes first driving means for rotating the stage and second driving means for rotating the turntable.

  According to the above configuration, the scanner device has the first driving means for rotating the stage and the second driving means for rotating the turntable in order to obtain image data having different light incident angles in a plurality of directions. And. This makes it possible to automatically control the stage and the turntable, so that the scanner device can be operated more easily.

  An image texture improving apparatus according to the present invention controls the operation of the above-described scanner device and the scanner device, and from the plurality of image data obtained by the scanner device and having different light incident directions, It is preferable that the image quality improving means for generating image data with improved texture is provided.

  According to the above configuration, the image data of the object easily obtained by the scanner device having a simplified configuration is processed into image data with improved texture of the object by the image texture improvement means. This makes it possible to reproduce high-definition texture image data from image data in which the light incident angle is varied in a plurality of directions.

  The image quality improvement means acquires position information from the position information storage means for storing position information of the stage and the turntable, and the position information storage means, and based on the position information, the first and second When the stage and the turntable are moved to a desired position by the drive control means for controlling the drive means and the first and second drive means, the image data is obtained from the line sensor, and the obtained image data is used to obtain the image data. It is preferable to include image processing means for generating image data with improved texture of the object.

  According to the above configuration, the drive control unit acquires position information, which is a desired angle for acquiring image data, from the position information storage unit, and controls the drive unit based on the position information, whereby the scanner device The stage and the turntable provided in are moved to a desired angle at which image data is acquired. When the stage and the turntable are set to a desired angle (position), the drive control means outputs a control signal so that the line sensor acquires image data of the object as the stage scans. The acquired image data is output to the image processing means, and the image processing means generates image data with improved texture of the object.

  As a result, the scanner device can be controlled by the image texture improving means, so that high-definition texture image data is reproduced from the image data obtained by the scanner device with different light incident angles in a plurality of directions. It becomes possible to do. Moreover, since it becomes possible to reproduce high-definition texture image data, it becomes possible to inspect the surface of the object.

  The image processing means measures the change in reflectance according to the position on the object and the light incident angle obtained from the object from the image obtained by the line sensor, and the measurement result is image data. For each pixel using a two-dimensional polynomial consisting of a normalized light incidence vector and a constant, and separating the luminance and chromaticity for each pixel of the image data. It is preferable to provide a second measuring means for approximating the luminance value.

  According to the above configuration, the change in reflectance according to the position on the object and the light incident angle is measured from the image data, and based on the image data obtained from this measurement, for each pixel of the image data. The luminance value of each pixel of the image data is approximated by separating the luminance and chromaticity and measuring using a two-dimensional polynomial consisting of a normalized light incident vector and a constant.

  Thereby, the value of chromaticity can be adjusted, and the final color reproduction process of each pixel can be performed, so that high-definition texture image data can be obtained.

  Further, since the second measuring means uses a two-dimensional polynomial composed of constants, the amount of image data output from the first measuring means can be compressed by evaluating the constants. Therefore, even an ordinary PC or the like can process image data at high speed.

  In order to solve the above problems, an image texture presentation device according to the present invention provides image display means for displaying an image of an object, and tactile presentation for presenting tactile information of the object to the user in association with the image. And a tactile sensation presentation control means for controlling the haptic presentation means to match the concavo-convex shape based on the concavo-convex shape data representing the concavo-convex shape of the object displayed on the image display means. A presentation device, comprising projection means for projecting an image displayed by the image display means between the tactile sense presentation means and the user's viewpoint. The projection unit preferably includes a half mirror that is disposed between the tactile sense presentation unit and the user's viewpoint and reflects light from the image display unit in the direction of the user's viewpoint.

  According to the above configuration, the projecting unit that projects the image provided from the image display unit is provided between the tactile sense presenting unit and the viewpoint of the user. Thereby, it is possible to superimpose an arbitrary position of the image projected on the projection unit and the position of the tactile presentation unit (from the viewpoint of the user) without being blocked by the tactile presentation unit, the user's hand, or the like. It becomes possible. Therefore, it is possible to make the user feel as if the object corresponding to the image displayed on the image display means is touching, and to simulate the tactile sensation of the object with high reality. It can be reproduced.

  It is preferable that the image forming apparatus further includes uneven shape calculating means for generating a difference image of the image data from a plurality of pieces of image data having different light incident directions and calculating the uneven shape data based on the difference image.

  According to the above configuration, the concavo-convex shape calculating means calculates the concavo-convex shape from a plurality of pieces of image data acquired while changing the light incident angle on the object. Thereby, it becomes possible to reduce the data amount of the positional information which shows the uneven | corrugated shape of a target object.

  An image texture presentation system according to the present invention includes the image texture enhancement device described above and the image texture presentation device described above, and the image display means of the image texture presentation device improves the image texture of the image texture enhancement device. It is preferable to display an image based on the image data obtained by the means and improving the texture of the object.

  According to the above configuration, the image based on the image data obtained by improving the texture of the object obtained by the image texture improving apparatus is displayed on the image display means of the image texture presenting apparatus, and the image is projected on the projection means. Will be. As a result, it becomes possible to artificially touch the fine uneven shape corresponding to the texture of the object obtained by the image texture improving apparatus. Therefore, not only inspection by visually recognizing an object, but also inspection by touching it in a pseudo manner can be performed. Moreover, according to the said structure, it becomes possible to display a high-definition texture image.

  As described above, the scanner device according to the present invention includes a light source that irradiates light on an object, a light receiving unit that acquires image data by reading reflected light reflected from the object, and a light source for the object. A scanner device that includes a stage that rotates so as to change the light incident angle in one direction, and includes a turntable on which the object is placed on the stage. It rotates around the direction perpendicular to the surface on which the object is placed. This makes it possible to reduce the light incident angle even when the configuration includes a large number of light sources at a desired angle for acquiring image data or when the light source is not moved to a desired angle for acquiring image data. It is possible to obtain image data different in a plurality of directions. Also, with the above configuration, the configuration of the scanner device can be simplified and the scanner device can be easily operated.

  In addition, as described above, the image texture presentation device according to the present invention includes an image display unit that displays an image of an object, and a tactile presentation that presents tactile information of the object corresponding to the image to the user. And a tactile sensation presentation control means for controlling the haptic presentation means to match the concavo-convex shape based on the concavo-convex shape data representing the concavo-convex shape of the object displayed on the image display means. A presentation device, comprising projection means for projecting an image displayed by the image display means between the tactile sense presentation means and the user's viewpoint. Thereby, it is possible to superimpose an arbitrary position of the image projected on the projection unit and the position of the tactile presentation unit (from the viewpoint of the user) without being blocked by the tactile presentation unit, the user's hand, or the like. Therefore, it is possible to make the user feel as if the object corresponding to the image displayed on the image display means is touching, and to have the tactile feeling of the object with high reality. It becomes possible to reproduce in a pseudo manner.

Embodiment 1
An embodiment of the present invention will be described below with reference to FIGS.

  FIG. 2 is a perspective view illustrating a schematic configuration of the tilt stage scanner according to the first embodiment.

  As shown in FIG. 2, the tilt stage type scanner (scanner device, image quality improvement device) 1 according to the present embodiment includes a line sensor (light receiving means) 11, a light source 12, a tilt stage (stage) 13, A precision turntable (turntable) 14 and a support plate 15 are provided.

  The line sensor 11 is a CCD sensor having an optical resolution of 400 dpi, and acquires image data of the object 100 by reading reflected light reflected from the object 100 such as an oil painting placed on the precision turntable 14. . This image data is output to an image processing unit 24 described later in order to improve the texture of the image data. As shown in FIG. 1, the object 100 is placed on the precision turntable 14.

  In addition, although the line sensor 11 is used, it is not restricted to this, A normal camera may be used. However, the line sensor 11 scans the object 100 and combines the one-dimensional image data acquired as a line from the object 100 to acquire a two-dimensional image. It is possible to acquire a high-definition image as compared with the case of using a normal camera that acquires the image. When a CCD sensor is used, there is no need to consider the problem of peripheral distortion that occurs when a normal camera is used.

  The light source 12 irradiates the object 100 placed on the precision turntable 14 with scanning light. Thereby, the line sensor 11 can read the reflected light reflected from the target object 100, and can acquire an image. The light source 12 is a linear light source such as a fluorescent lamp, and is provided in parallel with the line sensor 11. The light source 12 may be fixed anywhere as long as the object 100 can be irradiated.

  Further, the line sensor 11 and the light source 12 are on the tilt stage type scanner 1 and are in a position parallel to the surface on which the tilt stage type scanner 1 is placed and not in contact with the tilt stage type scanner 1, for example, tilt It is provided on the ceiling on the stage type scanner 1.

  The tilt stage 13 is supported by a pair of support plates 15 erected on both lower sides of the tilt stage type scanner 1, and includes a precision turntable 14 and a transport belt 16.

  The precision turntable 14 is a place on which the object 100 is placed and fixed, and 360 around the rotation axis a in the direction perpendicular to the surface on which the object 100 is placed from the center of the precision turntable 14. Rotate. The mechanism of the precision turntable 14 will be described later.

  The support plate 15 supports the tilt stage 13. Specifically, the support shafts provided on both sides of the tilt stage 13 are pivotally supported by bearings provided on the support plate 15. Thereby, for example, as shown in FIG. 3, the tilt stage 13 can be tilted about the longitudinal direction of the line sensor 11 as an axis. The support shaft of the tilting stage 13 is connected to a driving device (first driving means) such as a motor via a transmission unit such as a belt and a gear so that the angle can be automatically adjusted. The tilting is controlled by a drive control unit (drive control means, image texture improving means) 22 described later. 2 and 3, the components of the transmission unit and the drive device are not shown.

  Moreover, the structure which controls the spindle of the inclination stage 13 is not restricted to this, You may perform angle adjustment of the inclination stage 13 manually. In the case of manual operation, in order to confirm the angle (longitude direction angle) formed by the direction orthogonal to the longitudinal direction of the line sensor 11 and the scanning light emitted from the light source 12, that is, the inclination angle of the inclination stage 13 with respect to the horizontal plane. For example, a display board (not shown) may be attached.

  The transport belt 16 is connected in parallel with the precision turntable 14 and moves the precision turntable 14 on the surface of the tilt stage 13 in a direction perpendicular to the longitudinal direction of the line sensor 11 at a predetermined speed. The line sensor 11 acquires an image of the object 100 placed on the precision turntable 14 while the precision turntable 14 moves.

  FIG. 1 is a cross-sectional view schematically showing a mechanism for rotating the precision turntable 14 around the rotation axis a.

  The driving device 17 is provided at a position opposite to the line sensor 11 with respect to the precision turntable 14 in the direction of the rotation axis a, and rotates the precision turntable 14 around the rotation axis a by 360 °. The drive device (second drive means) 17 has a configuration including a motor and the like, and its rotation is controlled by a drive control unit 22 described later. The driving device 17 is not limited to this, and may be configured to be manually rotated. In this case, in order to confirm the rotation angle, for example, a display board (not shown) may be attached. The driving device 17 is connected to the precision turntable 14 and the transport belt 16.

  As described above, the tilt stage 13 can be tilted by the support shaft of the tilt stage 13, and the precision rotary table 14 provided on the tilt stage 13 can be rotated around the rotation axis a by the driving device 17. In conjunction with this, the object 100 placed on the precision turntable 14 can be tilted and rotated around the rotation axis a. Therefore, even when the light source 12 is fixed, the same function as the configuration in which many light sources 12 are provided or the light source 12 is moved so as to surround the object 100 in a dome shape. It is possible to have it.

  Therefore, although the tilt stage type scanner 1 has a configuration in which one light source 12 is fixed, it is possible to obtain image data similar to a configuration in which a large number of light sources 12 are arranged in a dome shape. Accordingly, since a large number of light sources are not required as compared with the configuration in which the light source 12 is arranged in a dome shape, the configuration of the scanner device can be simplified and the scanner device can be easily operated.

  FIG. 4 is a block diagram showing a configuration of an image texture measuring apparatus (image texture enhancing apparatus) that performs BTF measurement of input image data using the tilt stage type scanner 1. The image texture measuring apparatus includes the tilt stage type scanner 1 shown in FIG. 2 and a control / image processing apparatus. In FIG. 2, the components other than the line sensor 11 and the drive unit (first and second drive means) 23 in the tilt stage type scanner 1 are omitted. It is assumed that the object 100 is placed on the precision turntable 14.

  In this embodiment, the control / image processing apparatus is realized by one PC (Personal Computer), and includes a position information table (position information storage means, image texture improvement means) 21, a drive control section 22, and an image processing section. (Image processing means, image texture improving means) 24 and an image output unit 25 are provided.

  The position information table 21 stores the tilt angle of the tilt stage 13 and the rotation angle of the precision turntable 14 as position information in order to tilt the tilt stage 13 and rotate the precision turntable 14. Information is output to the drive control unit 22. The position information table 21 is stored in a memory such as a ROM (Read Only Memory) provided in the PC.

  The drive control unit 22 outputs position information acquisition signals to the position information table 21, thereby acquiring position information on positions where image data should be acquired from the position information table 21. Based on this positional information, a drive control signal is output to the drive unit 23 in order to tilt the tilt stage 13 and rotate the precision turntable 14.

  The drive unit 23 includes a drive device that tilts the tilt stage 13, a drive device 17 that rotates the precision turntable 14, and a drive device (not shown) for the transport belt 16. The drive unit 23 moves the tilt stage 13 and the precision turntable 14 to desired positions (angles) based on the drive control signal. Thereby, since it can set to the desired position which should acquire image data, the scanning light irradiated from the light source 12 can be made to inject into the target object 100 with the desired angle which should acquire image data. It becomes possible.

  When the drive unit 23 moves the tilt stage 13 and the precision turntable 14, the drive unit 23 outputs a setting completion signal to the drive control unit 22 as a setting completion signal.

  In the present embodiment, the position information is set so that the angle in the longitude direction is in the range of 10 ° to 80 ° every 10 ° and 45 °. Furthermore, as the position information, the angle in the rotation direction (latitude direction) of the precision turntable 14 is set so that the range of 0 ° to 300 ° is every 60 °.

  When the setting completion signal is input from the drive unit 23, the drive control unit 22 outputs an operation signal to the line sensor 11 and the drive unit 23.

  When the operation signal is input, the line sensor 11 starts to acquire image data of the object 100 in this position setting. Further, when an operation signal is input to the drive unit 23, the drive device for the transport belt 16 is operated, and the precision turntable 14 is moved in a direction orthogonal to the longitudinal direction of the line sensor 11. Thereby, the image data in this position setting can be acquired. When the acquisition of image data in this position setting is completed, the line sensor 11 outputs an acquisition completion signal to the drive control unit 22.

  When the acquisition completion signal is input, the drive control unit 22 outputs a position information acquisition signal to the position information table 21 in order to acquire image data when the scanning light is irradiated from another position.

  The position information table 21 outputs position information to the drive control unit 22 when a position information acquisition signal is input. As a result, the drive unit 23 moves the tilt stage 13 and the precision turntable 14 to desired positions, and when the movement is completed, the line sensor 11 scans the target object 100, whereby image data in another position setting is obtained. To get.

  Thereby, since the light source 12 can irradiate scanning light with respect to the target object 54 from 54 places, the line sensor 11 can acquire 54 types of image data.

  When the line sensor 11 acquires 54 types of image data, the image data is output to the image processing unit 24.

  The image processing unit 24 is a BTF measuring unit (first measuring unit) so that processing for reproducing the texture of the obtained image data with high definition can be performed at high speed even with a normal PC or the like. 24a and a PTM measuring unit (second measuring means) 24b.

  The drive control unit 22 and the image processing unit 24 are controlled or processed by a CPU (Central Processing Unit) provided in the PC.

  The BTF measurement unit 24a measures the BTF of the obtained image data. In the BTF measurement, the position on the object 100 and the light incident angle obtained from a certain area of the object 100, which is not realized by the BRDF (Bidirectional Reflectance Distribution Function) measurement in the variable angle spectroscopic measurement. The change in reflectivity corresponding to is measured from the image data obtained by the line sensor 11. In the present embodiment, BTF is a function indicating a six-dimensional reflectance distribution in the RGB wavelength region.

The data subjected to the BTF measurement is output as image data to the PTM measurement unit 24b. The number of pixels of the image data input to the BTF measurement unit 24a is 3000 × 3000 pixels when the object 100 is about 20 cm square. If the RGB dynamic range is 8 bits (1 byte) and the image data measured by the BTF measurement unit 24a is 54 types, the data amount of the image data measured by the BTF measurement unit 24a is
54 x 3000 x 3000 x 3 = 1458000000 bytes
It becomes. For this reason, when BTF measurement is performed, image data having a data amount of about 1.4 Gbytes is rendered. Therefore, it is difficult to perform high-speed processing with a normal PC or the like.

  Therefore, in order to compress and render the image data measured by the BTF measurement unit 24a, the image data is output to the PTM measurement unit 24b.

  The PTM measurement unit 24b compresses and renders the image data by PTM (Polynomial Texture Mapping).

Specifically, it is known that when the viewpoint and the object 100 are fixed and only the incident direction of the scanning light is changed, only the luminance value of the pixel data is changed and the chromaticity is constant without changing. It has been. For this reason, the color (R, G, B) of the pixel at the arbitrary coordinates (u, v) of the image data is
R (u, v) = L (u, v) × Rn (u, v)
G (u, v) = L (u, v) × Gn (u, v)
B (u, v) = L (u, v) × Bn (u, v)
Thus, for each pixel, the luminance value L and the chromaticity (Rn, Gn, Bn) can be separated and modeled.

  However, in the present embodiment, since the number of samplings of the image data is as discrete as 54 types, color reproduction processing is performed on the image data when the scanning light is irradiated from the direction without the position information data. That is, it is difficult to perform color reproduction processing continuously.

Therefore, a two-dimensional polynomial using the normalized scan light incident vector (lu, lv) and constant ai (i = 0 to 5) as arguments for the image data obtained by the BTF measurement unit 24a,
L (u, v; lu, lv) =
a0 (u, v) lu ² + a1 (u, v) lv ² + a2 (u, v) lulv
+ A3 (u, v) lu + a4 (u, v) lv + a5 (u, v)
By modeling using, an approximate value of the luminance value L of each pixel can be obtained, and the value of chromaticity (Rn, Gn, Bn) can be adjusted based on this approximate value. As a result, the final color reproduction process for each pixel can be performed.

  In order to improve the compression rate of the modeled image data, the constant ai is preferably 8-bit integer data by performing a scale conversion process or the like. However, even when the scale conversion process is performed, it is difficult to set all constants ai to 8 bits.

Therefore, by using the stored value ai ′, the scale value λ, and the bias value Ω in the compressed file, the constant ai is
ai = λ (ai′−Ω)
Even if it exceeds the 8-bit range, it is stored in the compressed file with a stored value ai ′ within 8 bits.

  By the above modeling and evaluation of the constant ai, as shown in Table 1, the image data measured by BTF can be compressed by about 88%. Since the compressed image data is subjected to a rendering process, even when a high-definition texture is reproduced using a normal PC or the like, it can be processed at a high speed.

The image data compressed and rendered by the PTM measurement unit 24b is provided to the user via the image output unit 25.

  Through the above processing, it is possible to obtain high-definition texture image data from the image data obtained from the object 100. 5 shows an image of the object 100 acquired by the line sensor 11, and FIG. 6 shows a texture image obtained from the image by the above processing. From the comparison between FIG. 5 and FIG. 6, it can be seen that the texture image obtained by the above processing can express the texture such as a shadow on the surface of the object 100 with high definition.

  From the above, the tilt stage type scanner 1 has a configuration in which the tilt stage 13 tilts and the precision turntable 14 can rotate around the rotation axis a. Therefore, image data necessary for performing BTF measurement is obtained as follows. It can be obtained by one fixed light source. Accordingly, it is possible to simplify the BTF measurement scanner device that requires a large number of light sources or to move the light sources, and to easily operate the scanner device.

  Moreover, since the line sensor 11 is used, a high-definition texture image can be displayed on the image output unit 25. Thus, by performing the above-described texture image processing using the tilt stage type scanner 1, it becomes possible to inspect a surface scratch or the like in a precise gravure letterpress printing. Further, by further improving the resolution of the line sensor 11, it becomes possible to inspect a three-dimensional mask when creating a semiconductor element.

  In this embodiment, the object 100 having a size of 20 cm square that is slightly smaller than the A4 size is used. However, in the tilt stage type scanner 1, even the image data of the A3 size object has high definition. It is possible to reproduce a simple texture.

  In the tilt stage scanner 1 according to the present embodiment, the image data obtained by the line sensor 11 is output to the image texture measuring device in order to improve the texture. However, the present invention is not limited to this, and the output of the image data may be used as it is, for example, to indicate a change in shadow due to a change in a plurality of light incident angles.

[Embodiment 2]
Another embodiment of the present invention will be described as follows. In addition, about the member which has the same function as Embodiment 1, the same code | symbol is attached and the description is abbreviate | omitted.

  FIG. 7 is an explanatory diagram showing a schematic configuration of the visual / tactile sensation presentation apparatus (image texture presentation apparatus) 2.

  The visual and tactile sensation presentation apparatus 2 according to the present embodiment includes a PC (tactile sensation presentation control means, uneven shape calculation means) 31, a display (image display means) 32, a matching device (projection means) 33, and a haptic device (tactile presentation). Means) 34.

  The PC 31 controls the display 32 and the haptic device 34. Specifically, the operation unit of the tactile device 34 is configured so that the uneven shape of the object displayed as an image on the display 32 matches the uneven shape and corresponds to the image displayed on the display 32. Tell 34a as reaction force. For this reason, the PC 31 generates a control signal corresponding to the reaction force that matches the uneven shape of the object displayed as an image on the display 32, and outputs the control signal to the tactile device 34.

  As a method for reproducing the concavo-convex shape of the object in the image data from the image data, approximation with a polygon by a set of connected triangles is generally used. The vertex position information for forming the polygon is mainly measured by a laser measuring instrument or the like, but the data amount of the measured position information becomes enormous.

  However, for example, when acquiring a plurality of pieces of image data having different light incident angles on the target object 100 using the tilt stage scanner 1 according to the first embodiment, that is, by changing the light incident angle on the target object 100. However, when acquiring the image data, a difference image of these image data can be generated from the two pieces of image data acquired by the line sensor 11. Thereby, since the uneven shape of the target object 100 in the image data can be reproduced from the difference image by the height field, the data amount of the position information can be reduced.

  Height Field is a method for restoring a three-dimensional uneven shape from a two-dimensional image, and is mainly used to reproduce the three-dimensional shape of the terrain from a contour map or the like. In the visual and tactile sensation presentation apparatus 2, the visual characteristics and the uneven shape are intended to play an auxiliary role of visual characteristics in order to increase the reality of the expression object to the user. It is possible to restore the uneven shape.

  It should be noted that the specific uneven shape restoration by the height field is performed as follows.

  First, a difference image obtained from two pieces of image data is projected on an arbitrary plane (for example, an xy plane) with a size of 1 × 1. Next, the density (luminance value) of the difference image is converted into 0-1 height data. At this time, the height data is highest when the luminance value L = 1 and lowest when the luminance value L = 0. Based on the converted height data, the difference image is raised in any direction (for example, + z-axis direction) perpendicular to the arbitrary plane (projection plane). Thereby, the uneven | corrugated shape of the target object surface in image data can be restored | restored with the difference image obtained from two image data.

  The display 32 displays image data output from the PC 31. A high-definition TFT color liquid crystal display is used as the display 32 so that a high-definition texture image can be displayed. However, the display 32 is not limited to this, and any display can be used as long as it can display a texture image. For example, when using a texture image obtained by the tilt stage type scanner 1, the texture image output to the image output unit 25 is displayed on the display 32.

  The aligning device 33 includes a mirror 33a and a half mirror 33b, and superimposes the image displayed on the display 32 and the position of the operation unit 34a of the tactile device 34 (from the viewpoint of the user). That is, the matching device 33 combines visual information with tactile information constructed in a virtual space.

  The mirror 33a makes the vertical and horizontal directions of the image reflected by the half mirror 33b the same as the vertical and horizontal directions of the image displayed on the display 32. The mirror 33a reflects the light from the display 32 and guides it to the half mirror 33b.

  The half mirror 33b has both reflection and transmission properties, and light from the display 32 incident through the mirror 33a is reflected toward the user's viewpoint between the haptic device 34 and the user's viewpoint. In such a direction, it is inclined at an angle. Thereby, the image of the display 32 reflected by the half mirror 33b via the mirror 33a is not obstructed by the tactile device 34, the user's hand, etc., and an arbitrary position of the image and the operation unit of the tactile device 34 It is possible to superimpose the position 34a (from the viewpoint of the user).

  The tactile device 34 is provided at a position opposite to the user's viewpoint with respect to the half mirror 33b, and is controlled by the PC 31. The tactile device 34 has an operation unit 34a.

  Based on a control signal corresponding to the reaction force generated by the PC 31, the operation unit 34a generates a reaction force so as to reproduce the uneven shape on the surface of the object displayed as a texture image on the display 32. As a result, the user can feel as if the surface of the operation unit 34a (in this case, the pen tip) is touching the uneven shape on the surface of the object by receiving the reaction force from the operation unit 34a with the fingertip. Become. In addition, although the operation part 34a is carrying out the pen shape, it is not restricted to this, A globe shape may be sufficient. In the space on the opposite side of the user's viewpoint in the half mirror 33b, light does not enter from the outside, and a portion (such as a tip of a pen or a globe) that touches the object in the operation unit 34a emits light. It is preferable that Thereby, it can suppress that the image of the operation part 34a is mixed with the image of the display 32. FIG. Moreover, it becomes easy to recognize where the user touches the uneven shape of the object 100.

  Therefore, the alignment device 33 can match the image of the display 32 reflected by the half mirror 33b with the position of the pen tip of the operation unit 34a, and is displayed as the image by the operation unit 34a. The user can feel as if he / she touches the uneven shape of the object. Thereby, it is possible to make the user feel as if he is touching the object displayed as an image on the display 32.

  Further, for example, when the tilt stage type scanner 1 is used, a plurality of pieces of image data obtained by the line sensor 11 and having different light incident angles on the target 100 and the target output from the image output unit 25. 100 texture image data are output to the PC 31. The PC 31 outputs the texture image data to the display 32 and generates a difference image from the two pieces of image data, thereby restoring the uneven shape of the object surface in the image data.

  As a result, it becomes possible to artificially touch the fine uneven shape corresponding to the texture image obtained from the tilt stage type scanner 1. Accordingly, it is possible for an inspector to inspect a precise gravure letterpress printing or the like not only by visual inspection but also by touching in a pseudo manner.

  The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope shown in the claims, and embodiments obtained by appropriately combining technical means disclosed in different embodiments. Is also included in the technical scope of the present invention.

  The image texture measuring device and the image texture presenting device according to the present invention, in particular, provide a high-definition object in a virtual environment with a substantially flat and finely shaped object such as an oil painting, an old document, paper, a slab, or a tile. It is effective to express In addition, since the image texture measuring device can obtain a high-definition texture image, it is effective for use in the inspection of the object or the inspection of the three-dimensional mask of the semiconductor element. By using a high-definition texture image, it is effective to use for inspection by touching in a pseudo manner.

FIG. 2 is a cross-sectional view illustrating a schematic configuration of an inclined stage type scanner according to the first embodiment. It is a perspective view which shows schematic structure of the inclination stage system scanner shown by FIG. FIG. 2 is a perspective view illustrating a schematic configuration of the tilt stage scanner when the tilt stage of the tilt stage scanner illustrated in FIG. 1 is tilted. It is a block diagram which shows the operation | movement of the inclination stage system scanner shown in FIG. 1, and the process of the image data of a target object. It is a photograph which shows the image based on the image data which the inclination stage system scanner shown by FIG. 1 acquired. It is a photograph which shows the texture image based on the texture image data obtained by performing image processing on the image data acquired by the tilt stage type scanner shown in FIG. It is Embodiment 2 which shows Embodiment 2 of this invention, and is a schematic diagram which shows schematic structure of a tactile sense presentation apparatus.

Explanation of symbols

1 Inclined stage scanner (scanner device, image quality improvement device)
2 Visual and tactile sensation presentation device (image texture presentation device)
11 Line sensor (light receiving means)
12 Light source 13 Inclined stage (stage)
14 Precision turntable (turntable)
17 Driving device (second driving means)
21 Position information table (position information storage means, image texture improvement means)
22 Drive control unit (drive control means, image texture improvement means)
23 Drive unit (first and second drive means)
24 Image processing unit (image processing means, image texture improvement means)
24a BTF measuring section (first measuring means)
24b PTM measuring unit (second measuring means)
31 PC (tactile sense presentation control means, uneven shape calculation means)
32 Display (Image display means)
33 Alignment device (projection means)
33b Half mirror 34 Tactile device (tactile sense presenting means)
100 objects

Claims (10)

A light source that irradiates the object with light;
A light receiving means for acquiring image data by reading reflected light reflected from the object;
A scanner device comprising a stage that rotates so as to change the light incident angle to the object in one direction,
On the stage, a turntable on which the object is placed is provided,
The scanner device according to claim 1, wherein the rotating table rotates about a vertical direction with respect to a surface on which the object is placed. The light receiving means is a line sensor,
The scanner device according to claim 1, wherein the turntable moves in a direction parallel to the stage and perpendicular to the longitudinal direction of the line sensor. First driving means for rotating the stage;
The scanner device according to claim 1, further comprising second driving means for rotating the turntable. A scanner device according to claim 3;
Image texture improving means for controlling the operation of the scanner device and generating image data obtained by improving the texture of the object from a plurality of pieces of image data obtained by the scanner device having different light incident directions. An image texture improving apparatus characterized by the above. The image quality improvement means
Position information storage means for storing position information of the stage and the turntable;
Drive control means for obtaining position information from the position information storage means and controlling the first and second drive means based on the position information;
When the stage and the turntable are moved to a desired position by the first and second driving means, image data is acquired from the line sensor, and image data in which the texture of the object is improved from the acquired image data. 5. The image texture improving apparatus according to claim 4, further comprising image processing means for generating the image. The image processing means includes
A change in reflectance according to a position on the object and a light incident angle obtained from the object is measured from an image obtained by the line sensor, and a measurement result is output as image data. Measuring means;
A second measurement that separates the luminance and chromaticity for each pixel of the image data and approximates the luminance value for each pixel using a two-dimensional polynomial consisting of a normalized incident vector of light and a constant. The image texture improving apparatus according to claim 5, further comprising: means. Image display means for displaying an image of the object;
Tactile sensation presenting means for presenting tactile information of the object corresponding to the image to the user;
An image texture presentation device comprising tactile sensation presentation control means for controlling the tactile sensation presentation means to match the concavo-convex shape based on the concavo-convex shape data representing the concavo-convex shape of the object displayed on the image display means There,
An image texture presenting apparatus comprising: a projecting unit that projects an image displayed by the image display unit between the tactile sense presenting unit and a user's viewpoint.   8. The projection unit includes a half mirror that is disposed between the tactile sense presentation unit and the user's viewpoint, and reflects light from the image display unit in the direction of the user's viewpoint. The image texture presentation device according to claim 1.   8. The uneven shape calculating means for generating a difference image of these image data from a plurality of image data having different light incident directions and calculating the uneven shape data based on the difference image. Or the image texture presentation device according to 8. The image quality improving device according to any one of claims 4 to 6,
An image texture presentation device according to any one of claims 7 to 9,
The image display means of the image texture presentation device displays an image based on the image data obtained by the image texture improvement means of the image texture improvement device and improved in the texture of the object. Presentation system.